Allen-Bradley 1732ES-IB16 User manual

Guard I/O EtherNet/IP Safety Modules
Catalog Numbers 1732ES-IB16, 1732ES-IB8XOB8, 1732ES-IB8XOBV4, 1732ES-IB12XOB4, 1732ES-IB12XOBV2, 1791ES-IB16,
1791ES-IB8XOBV4
User Manual
Original Instructions

Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Labels may also be on or inside the equipment to provide specific precautions.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 3
Table of Contents
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About the Specifications and Dimensions in This Manual . . . . . . . . . 9
Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Chapter 1
Safety Function Operation Safe State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Self-diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Configuration Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
I/O Status Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safety Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Using a Test Output with a Safety Input. . . . . . . . . . . . . . . . . . . . . 13
Set Dual-channel Mode and Discrepancy Time . . . . . . . . . . . . . . 17
Dual-channels, Equivalent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Dual-channels, Complementary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Safety Input Fault Recovery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Input Delays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Muting Lamp Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safety Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Safety Output with Test Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Dual-channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Single-channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Safety Output Fault Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Controlling Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Chapter 2
About the Modules Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Firmware Information and Downloads. . . . . . . . . . . . . . . . . . . . . . . . . . 28
Functional Safety Certificates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Understand Suitability for Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1791ES-IB16 and
1791ES-IB8XOBV4 Modules North American Hazardous Location
Approval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Follow Precautions for Use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
I/O Module Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Selecting a Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Programming Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
CIP Safety in
EtherNet/IP Safety Architectures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Device Level Ring (DLR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Identify Major Parts of the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Table of Contents
Chapter 3
Install the Module Environment and Enclosure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
For 1791ES Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
For 1732ES Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Prevent Electrostatic Discharge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Environmental Considerations for Use. . . . . . . . . . . . . . . . . . . . . . . . . . 42
Follow Wiring Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Follow DC Power Supply Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Mount the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Module Spacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Mount the 1791ES Modules on a DIN Rail. . . . . . . . . . . . . . . . . . 48
Mount the 1732ES Modules on a Wall or Panel. . . . . . . . . . . . . . 49
Grounding the 1732ES Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Make Connections for 1791ES Modules . . . . . . . . . . . . . . . . . . . . . . . . 52
Power Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
EtherNet/IP Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Make Connections for 1732ES Modules . . . . . . . . . . . . . . . . . . . . . . . . 55
Power Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Power Pass Through . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
EtherNet/IP Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
I/O Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Label the IP Address and Device Connections . . . . . . . . . . . . . . . 62
Chapter 4
Wiring Examples Wiring Examples for Safety Categories . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Wiring by Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Chapter 5
Configure the I/O Modules Set the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Add Modules to the I/O Configuration Tree . . . . . . . . . . . . . . . . . . . . 77
Configure the Module Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Set the IP Address in the Programming Software . . . . . . . . . . . . . 80
Change the Module Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Configure the Safety Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Configuration Ownership – Reset Ownership . . . . . . . . . . . . . . . 87
Configuration Signature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Configure the Module Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Configure the Test Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Configure the Module Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Save and Download the Module Configuration . . . . . . . . . . . . . . . . . . 92
Chapter 6
Replace Guard I/O Modules Manually Set the Safety Network Number . . . . . . . . . . . . . . . . . . . . . . 93
Reset the Module to Out-of-box Configuration. . . . . . . . . . . . . . . . . . 94
Replace a Module in a GuardLogix System . . . . . . . . . . . . . . . . . . . . . . 94

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 5
Table of Contents
Configure Only When No Safety Signature Exists. . . . . . . . . . . . 95
Configure Always . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Chapter 7
Interpret the Module Status
Indicators
Module Status Indicator Depictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Module Status Indicator Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Appendix A
Get Diagnostic Status from
Modules by Using Explicit
Messaging
Get Status Messages from 1791ES-IB8XOBV4 Modules . . . . . . . . 102
Get Status Messages from 1791ES-IB16 Modules . . . . . . . . . . . . . . . 107
Get Status Messages from 1732ES Modules . . . . . . . . . . . . . . . . . . . . 112
1732ES-IB12XOB4 Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
1732ES-IB12XOBV2 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
1732ES-IB16 Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
1732ES-IBXOB8 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
1732ES-IB8XOBV4 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
I/O Data Supported by Each Module . . . . . . . . . . . . . . . . . . . . . . . . . . 136
I/O Assembly and Reference Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
1791ES Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
1732ES Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Explicit Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Appendix B
Safety Data Calculated Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Appendix C
Configuration Reference
Information
Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Appendix D
Specifications Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
1791ES Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
1732ES Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Europe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
North America . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Japan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
EMC Directive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Compliance with EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

6Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Table of Contents
Notes:

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 7
Summary of Changes
This manual contains new and updated information as indicated in this table.
Topic Page
Updated graphics for current programming software version. Throughout
Added the following catalog numbers: 1732ES-IB16, 1732ES-IB8XOB8, and 1756-IBXOBV4. Throughout
Deleted Studio 5000® information from Preface. 9
Added publications to the Additional Resources section. 10
Updated Attention statement. 30
Added the following catalog numbers to Table 1: 1732ES-IB16, 1732ES-IB8XOB8, and 1756-IBXOBV4. 33
Deleted the About the Catalog Numbers section. 33
Updated the Programming Requirements section with catalog numbers and RSLogix 5000® versions. 34
Added Device Level Ring (DLR) section. 35
Changed section title to Safety Function Operation. 11
Added Attention statements to Safety Inputs section. 13
Added the following catalog numbers to Table 2: 1732ES-IB16, 1732ES-IB8XOB8, and 1756-IBXOBV4. 14
Added the following catalog numbers to Table 5: 1732ES-IB16, 1732ES-IB8XOB8, and 1756-IBXOBV4. 23
Added Attention statement. 49
Added 1732ES Module Physical Dimensions illustrations. 50
Corrected information in Table 19. 60
Added text a the beginning of Chapter 3, Wiring Examples. 63
Moved Set the IP Address section, with approved text, to Chapter 4, Configure the I/O Modules. 75
Updated steps in the Add Modules to the I/O Configuration Tree to reflect the current programming software procedure. 77
Added a reference to ENET-WP032 to the Set the IP Address in the Logix Designer Application section. 80
Added Chapter 5, Replacing Guard I/O™ Modules. 93
Combined tables in Chapter 6, Interpret the Module Status Indicators for 1791ES modules and 1732ES modules. 97
Added figure titles to Appendix A, Get Diagnostic Status from Modules by Using Explicit Messaging. 101
Added specific 1732ES module sections to account for available modules. 112
Added the following catalog numbers to Table 23: 1732ES-IB16, 1732ES-IB8XOB8, and 1756-IBXOBV4. 136
Added the following tables to the I/O Data Supported by Each Module section: Table 28, Table 29, and Table 30. 138, 139
Added the following tables to the I/O Assembly and Reference Data section: Table 37, Table 38, Table 40, and Table 41. 144, 145, 148
Updated Table 39 and Table 42 in the I/O Assembly and Reference Data . 146, 148
Corrected information in Table 55. 148
Updated technical and environmental Specifications. 161
Updated Certifications. 168
Updated GuardLogix® manual reference information in the Calculated Values section. 151
Updated all figures and tables in Appendix B. 151
Updated the Technical Specifications for the 1732ES modules. 161

8Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Summary of Changes
Notes:

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 9
Preface
About the Specifications and
Dimensions in This Manual
Product specifications and accessories can change at any time based on
improvements and other reasons. Consult with your Rockwell Automation
representative to confirm actual specifications of purchased product.
Dimensions and weights are nominal and are not for use for manufacturing
purposes, even when tolerances are shown.
Terminology See this table for the meaning of common terms.
Term Definition
1732ES modules Also known as ArmorBlock® Guard I/O™ EtherNet/IP Safety Modules.
1791ES modules Also known as CompactBlock™ Guard I/O EtherNet/IP Safety Modules.
Connection Logical communication channel for communication between nodes. Connections are maintained and controlled between masters and slaves.
DLR Acronym for Device Level Ring, a type of network topology.
EDS Acronym for Electronic Data Sheet, a template that RSNetWorx™ software uses to display the configuration parameters, I/O data profile, and
connection-type support for a given I/O module. These are simple text files used by RSNetWorx software for you to identify products and commission
them on a network.
L- Output +24V DC common.
M Sinking output common channel, output switches to the common voltage.
MTBF Acronym for mean time between failure, the average time between failure occurrences.
NAT Acronym for network address translation, a service that lets modules reuse IP addresses throughout a network.
ODVA Acronym for Open DeviceNet Vendor Association, a nonprofit association of vendors established for the promotion of CIP networks.
P Sourcing output channel, output switches to the plus voltage.
PFD Acronym for probability of failure on demand, the average probability of a system to fail to perform its design function on demand.
PFH Acronym for probability of failure per hour, the probability of a system to have a dangerous failure occur per hour.
Proof test Periodic test performed to detect failures in a safety-related system so that, if necessary, the system can be restoredto an as-new condition or as close as
practical to this condition.
S+ Output +24V DC.
SNN Acronym for safety network number, which uniquely identifies a network across all networks in the safety system. You are responsible for assigning a
unique number for each safety network or safety sub-net within a system.
Standard Devices or portions of devices that do not participate in the safety function.

10 Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Preface
Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
You can view or download publications at
http://www.rockwellautomation.com/global/literature-library/overview.page.
To order paper copies of technical documentation, contact your local
Allen-Bradley distributor or Rockwell Automation sales representative.
Resource Description
Allen-Bradley® Stratix® 5700 Network Address Translation (NAT) White Paper,
publication ENET-WP032
Provides information about NAT.
ArmorBlock Guard I/O EtherNet/IP Safety Modules Product Information,
publication 1732ES-PC001
Provides instructions to install ArmorBlock Guard I/O EtherNet/IP Safety modules.
CompactBlock Guard I/O EtherNet/IP Safety Modules Installation Instructions, publication
1791ES-IN001
Provides specifications and information related to the 1791ES Guard I/O modules.
Compact GuardLogix® 5370 Controllers User Manual, publication 1769-UM022 Provides information on how to install, configure, program, and use Compact
GuardLogix 5370 controllers.
EtherNet/IP Embedded Switch Technology Application Guide, publication ENET-AP005 Describes how to install, configure, and maintain linear and Device Level Ring (DLR)
networks using Rockwell Automation® EtherNet/IP devices with embedded switch
technology.
Ethernet Design Considerations Reference Manual, publication ENET-RM002 Describes the required media components and how to plan for and install these
required components.
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference
Manual, publication 1756-RM099
Provides information on safety application requirements for GuardLogix 5570
controllers in Studio 5000 Logix Designer® projects.
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 Provides information on how to install, configure, program, and use GuardLogix
5570 controllers in Studio 5000 Logix Designer projects.
GuardLogix Controller Systems Safety Reference Manual, publication 1756-RM093 Provides information on safety application requirements for GuardLogix 5560 and
5570 controllers in Studio 5000 Logix Designer projects.
GuardLogix Controllers User Manual, publication 1756-UM020 Provides information on how to install, configure, program, and use GuardLogix
5560 and 5570 controllers in Studio 5000 Logix Designer projects.
GuardLogix Safety Application Instructions Safety Reference Manual,
publication 1756-RM095
Provides reference information describing the GuardLogix Safety Application
Instruction Set.
ODVA Media Planning and Installation Manual, publication 00148-BR00, available from the
EtherNet/IP™ Library at ODVA.org
Describes the required media components and how to plan for and install these
required components.
Switched Mode Power Supply Specifications Technical Data, publication 1606-TD002 Provides specifications and more information for the switched mode power supplies.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website,
http://www.rockwellautomation.com/global/certification/overview.page
Provides declarations of conformity, certificates, and other certification details.

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 11
Chapter 1
Safety Function Operation
Read this chapter for information related to the safety functions of the
modules. Also included is a brief overview on international standards and
directives that you must be familiar with.
Safe State
The following status is the safety state of the Guard I/O modules:
• Safety outputs: off
• Safety input data to network: off
Figure 1 - Safety Status
Topic Page
Safe State 11
Self-diagnostic Functions 12
Configuration Lock 12
I/O Status Data 12
Safety Inputs 13
Muting Lamp Operation 21
Safety Outputs 23
Controlling Devices 26
ATTENTION: Safety State of the Module
• Safety state of the inputs and outputs is defined as the off state.
• Safety state of the module and its data is defined as the off state.
• Use the Guard I/O™ module only in applications where the off state is the
safety state.
Output Off Input
Inputs to Network Off
EtherNet/IP Network
Safety
Status

12 Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Chapter 1 Safety Function Operation
The module is designed for use in applications where the safety state is the off
state.
Self-diagnostic Functions Self-diagnostics are performed when the power is turned on and periodically
during operation. If a fatal internal module error occurs, the red module status
(MS) indicator illuminates, and the safety outputs and input data and status to
the network turn off.
Configuration Lock After configuration data has been downloaded and verified, the configuration
data within the module can be protected.
For GuardLogix® systems, the status indicator is not used. For information
about safety signatures, see the appropriate GuardLogix Safety Reference
Manual, which is listed in the Additional Resources on page 10.
I/O Status Data The module provides status data for monitoring the
I/O circuits and I/O data. The status data includes the following data, which
the controllers can read. 1 = ON/Normal, and 0 = OFF/Fault/Alarm.
• Individual point input status
•Combinedinputstatus
• Individual point output status
• Combined output status
• Individual test output status
• Individual output readback (actual ON/OFF state of the outputs)
Status data indicate whether each safety input, safety output, or test output is
normal (normal status: ON, faulted status: OFF). For fatal errors,
communication connections can be broken, so the status data cannot be read.
Combined status is provided by an AND of the status of all safety inputs or all
safety outputs. When all inputs or outputs are normal, the respective combined
status is ON. When one or more of them has an error, the respective combined
status is OFF. This status is known as the combined safety input status or
combined safety output status.

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 13
Safety Function Operation Chapter 1
Safety Inputs Read this section for information about safety inputs and their associated test
outputs. A safety input can be used with test outputs. Safety inputs are used to
monitor safety input devices.
Using a Test Output with a Safety Input
A test output can be used in combination with a safety input for short circuit
detection. Configure the test output as a pulse test source and associate it to a
specific safety input.
The test output can also be used as a power supply to source 24V DC for an
external input circuit.
Figure 2 - Example Use of a 1791ES-IB16 Module
ATTENTION: You can configure Test Outputs to be used as standard outputs.
You can connect actuators to Test Output points that are expecting a Standard
configuration.
Test Output points configured as Pulse Test or Power Supply become active
whenever you apply input power to the module. These configured functions are
independent of the I/O connections to the module.
ATTENTION: If a module with Test Outputs configured as Pulse Test or Power
Supply is incorrectly installed in an application where actuators are
connected to these Test Output points, the actuators are activated when
input power is applied.
To prevent this possibility, follow these procedures.
• When installing or replacing a module, be sure that the module is correctly
configured for the application or in the out-of-box condition before applying
input power.
• Reset modules to their out-of-box condition when removing them from an
application.
• Be sure that all modules in replacement stock are in their out-of-box
condition.
I8 I9 T8 T9 I10 I11 T10 T11M I12 I13 T12 T13 I14 I15 T14 T15M
I0 I1 T0 T1 I2 I3 T2 T3M I4 I5 T4 T5 I6 I7 T6 T7M
IN+ IN-
24V DC
24V DC Output with Test Pulse
External Contact
Safety Input

14 Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Chapter 1 Safety Function Operation
Table 1 - Typical Pulse Width and Period
Figure 3 - Test Pulse in a Cycle
Pulse Width Period
500 μs 150 ms
ATTENTION: Do not use test outputs as safety outputs. Test outputs do not
function as safety outputs.
OUT On
Off
Typical
500 μs Typical
150 ms

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 15
Safety Function Operation Chapter 1
When the external input contact is closed, a test pulse is output from the test
output terminal to diagnose the field wiring and input circuitry. By using this
function, short circuits between input signal lines and the power supply
(positive side), and short circuits between input signal lines can be detected.
Figure 4 - Short Circuit Between Input Signal Lines
T0
IN0

24V
0V
24V
T1
IN1
IN+
IN-




External Contact
Short Circuit Between Input Signal Lines and Power
Supply (positive side)
External Contact
Short Circuit Between Input Signal Lines

16 Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Chapter 1 Safety Function Operation
If an error is detected, safety input data and safety input status turns off.
Figure 5 - Single Channel Normal Operation and Fault Detection (not to scale)
24V
0V
T0
Input Terminal 0
External Device
Fault Detected
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
ON
OFF
24V
0V
ON
OFF
T0
Safety Input
Status 0
Fault Detection
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
Safety Input
Status 0
Safety Input 0
Safety Input 0
Input Terminal 0
Normal Operation
External Device

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 17
Safety Function Operation Chapter 1
Set Dual-channel Mode and Discrepancy Time
To support redundant channel safety devices, the consistency between signals
on two channels can be evaluated. Either equivalent or complementary can be
selected. This function monitors the time during which there is a discrepancy
between the two channels.
If the length of the discrepancy exceeds the configured discrepancy time, the
safety input data and the individual-safety input status turn off for both
channels. The configured discrepancy time is 0…65,530 ms in increments of
10 ms.
Tab le 2 shows the relation between input terminal states and controller input
data and status.
Dual-channels, Equivalent
In Equivalent mode, both inputs of a pair must typically be in the same
(equivalent) state. When a transition occurs in one channel of the pair, before
the transition of the second channel of the pair, a discrepancy occurs. If the
second channel transitions to the appropriate state before the discrepancy time
elapses, the inputs are considered equivalent. If the second transition does not
IMPORTANT The dual-channel function is used with two consecutive inputs that are
paired together, this process starts at an even input number, such as
inputs 0 and 1; 2 and 3; and so on.
IMPORTANT Do not set the discrepancy time longer than necessary. The purpose of
the discrepancy time is to allow for normal differences between contact
switching when demands are placed on safety inputs. For this testing to
operate correctly, only one demand on the safety input is expected
during the discrepancy time. If the discrepancy time is set too high, and
multiple demands occur during this time, then both safety input
channels will fault.
Table 2 - Terminal Input Status and Controller I/O Data
Dual-channel Mode Input Terminal Controller Input Data and Status Dual- channel
Resultant
Data
Dual-channel
Resultant
Status
IN0 IN1 Safety
Input 0 Data
Safety
Input 1 Data
Safety
Input 0 Status
Safety
Input 1 Status
Dual-channels, Equivalent OFF OFF OFF OFF ON ON OFF Normal
OFF ON OFF OFF OFF OFF OFF Fault
ON OFF OFF OFF OFF OFF OFF Fault
ON ON ON ON ON ON ON Normal
Dual-channels, Complementary OFF OFF OFF ON OFF OFF OFF Fault
OFF ON OFF ON ON ON OFF Normal
ON OFF ON OFF ON ON ON Normal
ON ON OFF ON OFF OFF OFF Fault

18 Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Chapter 1 Safety Function Operation
occur before the discrepancy time elapses, the channels fault. In the fault state,
the input and status for both channels are set low (off ). When configured as an
equivalent dual pair, the data bits for both channels are sent to the controller as
equivalent, both high or both low.
Figure 6 - Equivalent, Normal Operation, and Fault Detection (not to scale)
ON
OFF
IN0
Safety Input 0
IN1
Fault Detected
Discrepancy Time
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
IN0
Safety Input
Status 0, 1
IN1
Fault Detection
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
Discrepancy Time
Safety Input
Status 0, 1
Safety Input 1
Safety Input 1
Safety Input 0
Normal Operation

Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016 19
Safety Function Operation Chapter 1
Dual-channels, Complementary
In Complementary mode, the inputs of a pair are typically in the opposite
(complementary) state. When a transition occurs in one channel of the pair
before the transition of the second channel of the pair, a discrepancy occurs. If
the second channel transitions to the appropriate state before the discrepancy
time elapses, the inputs are considered complementary.
If the second transition does not occur before the discrepancy time elapses, the
channels fault. The fault state of complementary inputs is the even-numbered
input turned off and the odd-numbered input turned on. If faulted, both
channel status bits are set low. When configured as a complementary
dual-channel pair, the data bits for both channels are sent to the controller in
complementary, or opposite states.
Figure 7 - Complementary, Normal Operation and Fault Detection (not to scale)
ON
OFF
IN0
Safety Input 0
IN1
Fault Detected
Discrepancy Time
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
IN0
Safety Input
Status 0, 1
IN1
Fault Detection
Remote
I/O
Data
ON
OFF
ON
OFF
ON
OFF
Discrepancy Time
Safety Input
Status 0, 1
Safety Input 1
Safety Input 1
Safety Input 0
Normal
Operation

20 Rockwell Automation Publication 1791ES-UM001G-EN-P - November 2016
Chapter 1 Safety Function Operation
Safety Input Fault Recovery
If an error is detected, the safety input data remains in the off state. Follow this
procedure to activate the safety input data.
1. Remove the cause of the error.
2. Place the safety input (or safety inputs) into the safety state.
The safety input status turns on (fault cleared) after the input-error
latch time has elapsed. The I/O indicator (red) turns off. The input data
can now be controlled.
Input Delays
On-delay – An input signal is treated as logic 0 during the on-delay time
(0…126 ms, in increments of 6 ms) after the rising edge of the input contact.
The input only turns on if the input contact remains on after the on-delay time
has elapsed. This delay helps prevent rapid changes of the input data due to
contact bounce.
Figure 8 - On-delay
Off-delay – An input signal is treated as logic 1 during the off-delay time
(0…126 ms, in increments of 6 ms) after the falling edge of the input contact.
The input only turns off if the input contact remains off after the off delay time
has elapsed. This delay helps prevent rapid changes of the input data due to
contact bounce.
Figure 9 - Off-delay
44094
ON
OFF
ON
OFF
Remote I/O
Data Safety
Input
Input Signal
ON-delay
On-delay
ON
OFF
ON
OFF
Input Signal
Remote I/O
Data Safety
Input
OFF
ON
OFF
Safety Input
Input Signal
OFF-delay
Remote I/O Data
Remote I/O Data
Safety Input
Off-delay
Input Signal ON
OFF
ON
OFF